ManualControlSetpoint (UORB message)
TOPICS: manual_control_setpoint manual_control_input
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| timestamp_sample | uint64 | the timestamp of the raw data (microseconds) | ||
| valid | bool | |||
| data_source | uint8 | |||
| roll | float32 | move right, positive roll rotation, right side down | ||
| pitch | float32 | move forward, negative pitch rotation, nose down | ||
| yaw | float32 | positive yaw rotation, clockwise when seen top down | ||
| throttle | float32 | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust | ||
| flaps | float32 | position of flaps switch/knob/lever [-1, 1] | ||
| aux1 | float32 | |||
| aux2 | float32 | |||
| aux3 | float32 | |||
| aux4 | float32 | |||
| aux5 | float32 | |||
| aux6 | float32 | |||
| sticks_moving | bool | |||
| buttons | uint16 | From uint16 buttons field of Mavlink manual_control message |
Constants
Source Message
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c
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
bool valid
uint8 SOURCE_UNKNOWN = 0
uint8 SOURCE_RC = 1 # radio control (input_rc)
uint8 SOURCE_MAVLINK_0 = 2 # mavlink instance 0
uint8 SOURCE_MAVLINK_1 = 3 # mavlink instance 1
uint8 SOURCE_MAVLINK_2 = 4 # mavlink instance 2
uint8 SOURCE_MAVLINK_3 = 5 # mavlink instance 3
uint8 SOURCE_MAVLINK_4 = 6 # mavlink instance 4
uint8 SOURCE_MAVLINK_5 = 7 # mavlink instance 5
uint8 data_source
# Any of the channels may not be available and be set to NaN
# to indicate that it does not contain valid data.
# Stick positions [-1,1]
# on a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right
# Note: QGC sends throttle/z in range [0,1000] - [0,1]. The MAVLink input conversion [0,1] to [-1,1] is at the moment kept backwards compatible.
# Positive values are generally used for:
float32 roll # move right, positive roll rotation, right side down
float32 pitch # move forward, negative pitch rotation, nose down
float32 yaw # positive yaw rotation, clockwise when seen top down
float32 throttle # move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
float32 flaps # position of flaps switch/knob/lever [-1, 1]
float32 aux1
float32 aux2
float32 aux3
float32 aux4
float32 aux5
float32 aux6
bool sticks_moving
uint16 buttons # From uint16 buttons field of Mavlink manual_control message
# TOPICS manual_control_setpoint manual_control_input
# DEPRECATED: float32 x
# DEPRECATED: float32 y
# DEPRECATED: float32 z
# DEPRECATED: float32 r